This article presents the development of a software tool designed for the control and manipulation of a PUMA (Programmable Universal Manipulation Arm) robot using the Unity 3D platform. The project begins with a general overview of the PUMA robot, exploring its mechanical structure, sensors, and controller board. Following this, the article outlines the project requirements, which include data persistence, trajectory generation, controllability, human-computer interaction, and electronic communication. The mathematical models essential for trajectory generation and robot control are discussed in detail. Finally, real-world tests are conducted with the PUMA robot, executing both Cartesian and articulated trajectories. The results demonstrate a Euclidean error of 1 cm for certain high-speed trajectories and 0.5 cm at medium speeds—acceptable outcomes given the complexity of the mechanism involved.